WO2017164053A1 - モータグレーダの制御方法およびモータグレーダ - Google Patents

モータグレーダの制御方法およびモータグレーダ Download PDF

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Publication number
WO2017164053A1
WO2017164053A1 PCT/JP2017/010581 JP2017010581W WO2017164053A1 WO 2017164053 A1 WO2017164053 A1 WO 2017164053A1 JP 2017010581 W JP2017010581 W JP 2017010581W WO 2017164053 A1 WO2017164053 A1 WO 2017164053A1
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WO
WIPO (PCT)
Prior art keywords
front wheel
height
blade
motor grader
respect
Prior art date
Application number
PCT/JP2017/010581
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
穣 小野
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to US16/082,593 priority Critical patent/US10753066B2/en
Priority to CN201780013292.4A priority patent/CN108699805B/zh
Publication of WO2017164053A1 publication Critical patent/WO2017164053A1/ja

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
    • E02F3/7654—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being horizontally movable into a position near the chassis
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame

Definitions

  • This disclosure relates to a motor grader control method and a motor grader.
  • Patent Document 1 discloses a method and apparatus for controlling a blade based on a load applied to a motor grader. Specifically, there is shown a method for adjusting the height of the blade when the load on the blade is increased.
  • Patent Document 2 US Patent Application Publication No. 2009/0056961 (Patent Document 2) is provided with a ground inclination sensor that senses the inclination of the surface of the ground, and the direction of the blade is determined based on a signal from the ground inclination sensor. And a method of automatically adjusting the position is disclosed.
  • a blade is arranged between the front end and the rear end of the body frame.
  • the front wheel is disposed in front of the blade.
  • the front wheels pass through the ground before the blades are leveled.
  • the position of the blade in the vertical direction changes corresponding to the unevenness of the ground.
  • the front wheel passes the convex portion, the position of the blade moves upward, the blade moves away from the ground, and the leveling work becomes insufficient.
  • the front wheel passes through the recess, the position of the blade moves downward and the blade erodes the ground. As a result, the ground after the blade passes does not match the design terrain.
  • the present disclosure has been made in view of the above-described problems, and an object thereof is to provide a motor grader and a motor grader control method capable of improving the construction accuracy of leveling work.
  • a motor grader control method comprising a blade provided between a front wheel and a rear wheel attached to a vehicle body according to a certain aspect, and a height adjusting mechanism for adjusting the height of the blade, the front of the motor grader Obtaining the current terrain and adjusting the height of the blade relative to the front wheel based on the current terrain.
  • a motor grader includes a vehicle body, front and rear wheels attached to the vehicle body, a blade provided between the front wheel and the rear wheel, a height adjustment mechanism that adjusts the height of the blade with respect to the front wheel, An acquisition unit that acquires the current terrain ahead of the motor grader, and a control unit that instructs the height adjustment mechanism to adjust the height of the blade relative to the front wheel based on the current terrain.
  • FIG. 1 is a perspective view schematically showing a configuration of a motor grader 1 based on the embodiment.
  • FIG. 2 is a side view schematically showing the configuration of the motor grader 1 based on the embodiment.
  • the motor grader 1 of this embodiment mainly includes traveling wheels 11, 12, a body frame 2, a cab 3, and a work implement 4.
  • the motor grader 1 includes components such as an engine disposed in the engine room 6.
  • the work machine 4 includes a blade 42.
  • the motor grader 1 can perform operations such as leveling work, snow removal work, light cutting, and material mixing with the blade 42.
  • the traveling wheels 11 and 12 include a front wheel 11 and a rear wheel 12.
  • a front wheel 11 and a rear wheel 12 In FIGS. 1 and 2, all six traveling wheels including two front wheels 11 on each side and four rear wheels 12 on each side are shown, but the front wheels 11 and the rear wheels 12 The number and arrangement are not limited to this.
  • the direction in which the motor grader 1 travels straight is referred to as the front-rear direction of the motor grader 1.
  • the front-rear direction of the motor grader 1 the side on which the front wheels 11 are disposed with respect to the work implement 4 is defined as the front direction.
  • the front-rear direction of the motor grader 1 the side on which the rear wheel 12 is disposed with respect to the work implement 4 is defined as the rear direction.
  • the left-right direction of the motor grader 1 is a direction orthogonal to the front-rear direction in plan view. When viewed from the front, the right and left sides in the left-right direction are the right direction and the left direction, respectively.
  • the vertical direction of the motor grader 1 is a direction orthogonal to a plane defined by the front-rear direction and the left-right direction. In the vertical direction, the side with the ground is the lower side, and the side with the sky is the upper side.
  • the front-rear direction is the front-rear direction of the operator seated in the driver's seat in the cab 3.
  • the left-right direction is the left-right direction of the operator seated on the driver's seat.
  • the left-right direction is the vehicle width direction of the motor grader 1.
  • the up-down direction is the up-down direction of the operator seated on the driver's seat.
  • the direction facing the operator seated in the driver's seat is the forward direction
  • the rear direction of the operator seated in the driver's seat is the backward direction.
  • the right side and the left side are the right direction and the left direction, respectively.
  • the feet of the operator seated in the driver's seat are the lower side and the upper head is the upper side.
  • the vehicle body frame 2 includes a rear frame 21, a front frame 22, and an exterior cover 25.
  • the rear frame 21 supports an exterior cover 25 and components such as an engine disposed in the engine compartment 6.
  • the exterior cover 25 covers the engine chamber 6.
  • the exterior cover 25 is formed with an upper opening 26, a side opening 27, and a rear opening.
  • the upper opening 26, the side opening 27, and the rear opening are formed through the exterior cover 25 in the thickness direction.
  • the rear frame 21 supports the exterior cover 25 and components such as an engine disposed in the engine compartment 6.
  • the exterior cover 25 covers the engine chamber 6.
  • each of the four rear wheels 12 described above is attached to the rear frame 21 so as to be rotationally driven by a driving force from the engine.
  • the front frame 22 is attached in front of the rear frame 21.
  • the front frame 22 is rotatably connected to the rear frame 21.
  • the front frame 22 extends in the front-rear direction.
  • the front frame 22 has a proximal end connected to the rear frame 21 and a distal end opposite to the proximal end.
  • the front frame 22 has a front end. The front end is included in the front end portion of the front frame 22.
  • the two front wheels 11 described above are rotatably attached to the front end portion of the front frame 22.
  • a counterweight 51 is attached to the front end of the front frame 22 (or the front end of the vehicle body frame 2).
  • the counterweight 51 is a kind of attachment attached to the front frame 22.
  • the counterweight 51 is attached to the front frame 22 in order to increase the downward load applied to the front wheel 11 to enable steering and to increase the pressing load of the blade 42.
  • An image pickup device 59 for picking up an image of the current topography in front of the motor grader 1 is attached to the counterweight 51.
  • the mounting position of the imaging device 59 is not limited to the above position, and is not particularly limited as long as it can capture the current terrain in front of the motor grader 1.
  • it may be provided on the upper surface of the front frame 22.
  • the imaging device 59 is typically a stereo camera.
  • the cab 3 is placed on the front frame 22. Inside the cab 3, there are provided operating sections (not shown) such as a handle, a speed change lever, an operating lever of the work machine 4, a brake, an accelerator pedal, an inching pedal, and the like.
  • the cab 3 may be placed on the rear frame 21.
  • the work machine 4 mainly has a draw bar 40, a turning circle 41, a blade 42, a hydraulic motor 49, and various hydraulic cylinders 44 to 48.
  • the front end portion of the draw bar 40 is swingably attached to the front end portion of the front frame 22.
  • the rear end portion of the draw bar 40 is supported on the front frame 22 by a pair of lift cylinders 44 and 45.
  • the pair of lift cylinders 44 and 45 By extending and contracting the pair of lift cylinders 44 and 45, the rear end portion of the draw bar 40 can be moved up and down with respect to the front frame 22. Therefore, when the lift cylinders 44 and 45 are both reduced, the height of the blade 42 with respect to the front frame 22 and the front wheel 11 is adjusted upward. Further, when the lift cylinders 44 and 45 are both extended, the height of the blade 42 with respect to the front frame 22 and the front wheel 11 is adjusted downward.
  • the draw bar 40 can swing up and down around an axis along the vehicle traveling direction by the expansion and contraction of the lift cylinders 44 and 45.
  • a drawbar shift cylinder 46 is attached to the front frame 22 and the side end of the drawbar 40.
  • the draw bar 40 can move to the left and right with respect to the front frame 22 by the expansion and contraction of the draw bar shift cylinder 46.
  • the turning circle 41 is attached to the rear end portion of the draw bar 40 so as to be capable of turning (rotating).
  • the turning circle 41 can be driven to turn clockwise or counterclockwise by the hydraulic motor 49 when viewed from above the vehicle with respect to the draw bar 40.
  • the blade propulsion angle of the blade 42 is adjusted by the turning drive of the turning circle 41.
  • the blade 42 is disposed between the front wheel 11 and the rear wheel 12.
  • the blade 42 is disposed between the front end of the vehicle body frame 2 (or the front end of the front frame 22) and the rear end of the vehicle body frame 2.
  • the blade 42 is supported by the turning circle 41.
  • the blade 42 is supported by the front frame 22 via the turning circle 41 and the draw bar 40.
  • the blade 42 is supported so as to be movable in the left-right direction with respect to the turning circle 41.
  • the blade shift cylinder 47 is attached to the turning circle 41 and the blade 42, and is disposed along the longitudinal direction of the blade 42.
  • the blade shift cylinder 47 allows the blade 42 to move in the left-right direction with respect to the turning circle 41.
  • the blade 42 is movable in a direction that intersects the longitudinal direction of the front frame 22.
  • the blade 42 is supported with respect to the turning circle 41 so as to be swingable about an axis extending in the longitudinal direction of the blade 42.
  • the tilt cylinder 48 is attached to the turning circle 41 and the blade 42. By extending and retracting the tilt cylinder 48, the blade 42 can swing about the axis extending in the longitudinal direction of the blade 42 with respect to the turning circle 41, and the inclination angle of the blade 42 with respect to the vehicle traveling direction can be changed. .
  • the blade 42 moves up and down with respect to the vehicle, swings about the axis along the traveling direction of the vehicle, changes in the inclination angle with respect to the front-rear direction, and left-right direction via the draw bar 40 and the turning circle 41. And swinging about an axis extending in the longitudinal direction of the blade 42 is possible.
  • FIG. 3 is a block diagram illustrating a configuration of a control system provided in the motor grader 1 based on the embodiment.
  • the control system of the motor grader 1 includes, for example, a right operation lever 33, a hydraulic pump 131, a control valve 134, a hydraulic actuator 135, an engine 136, an engine controller 138, and a throttle.
  • a dial 139, a rotation sensor 140, a potentiometer 145, a starter switch 146, a main controller 150, an imaging device 59, and a vehicle speed sensor 60 are included.
  • the hydraulic pump 131 discharges hydraulic oil used for driving the work machine 4 and the like.
  • a hydraulic actuator 135 is connected to the hydraulic pump 131 via a control valve 134.
  • the hydraulic actuator 135 includes lift cylinders 44 and 45 and the like.
  • the main controller 150 outputs a command to the control valve 134 according to the output electric signal corresponding to the operation amount and the operation direction of the right operation lever 33.
  • the swash plate driving device 132 is driven based on an instruction from the main controller 150 to change the inclination angle of the swash plate of the hydraulic pump 131. Accordingly, the amount of hydraulic oil supplied from the hydraulic pump 131 to the control valve 134 is adjusted.
  • the control valve 134 is an electromagnetic proportional valve and controls the hydraulic actuator 135.
  • the hydraulic oil supply is switched in accordance with a command from the main controller 150.
  • the control valve 134 switches the supply of hydraulic oil so that the lift cylinders 44 and 45 expand or contract in accordance with a command from the main controller 150.
  • the control valve 134 adjusts the discharge amount of hydraulic oil supplied from the hydraulic pump 131 to the hydraulic actuator 135 in accordance with a command from the main controller 150.
  • the engine 136 has a drive shaft connected to the hydraulic pump 131, and the hydraulic pump 131 is driven according to the drive shaft.
  • the engine controller 138 controls the operation of the engine 136 in accordance with an instruction from the main controller 150.
  • the engine 136 is a diesel engine as an example.
  • the engine speed of the engine 136 is set by the throttle dial 139 or the like, and the actual engine speed is detected by the rotation sensor 140.
  • the rotation sensor 140 is connected to the main controller 150.
  • the throttle dial 139 is provided with a potentiometer 145.
  • the potentiometer 145 detects a set value (operation amount) of the throttle dial 139.
  • the set value of the throttle dial 139 is transmitted to the main controller 150.
  • the potentiometer 145 outputs a command value related to the rotational speed of the engine 136 to the engine controller 138.
  • the target rotational speed of the engine 136 is adjusted according to the command value.
  • the engine controller 138 adjusts the number of revolutions of the engine 136 by controlling the fuel injection amount injected by the fuel injection device in accordance with the instruction from the main controller 150.
  • the starter switch 146 is connected to the engine controller 138. When the operator operates the starter switch 146 (set to start), a start signal is output to the engine controller 138 and the engine 136 is started.
  • the main controller 150 is a controller that controls the entire motor grader 1 and includes a CPU (Central Processing Unit), a nonvolatile memory, a timer, and the like.
  • a CPU Central Processing Unit
  • main controller 150 and the engine controller 138 have been described with respect to different configurations, but a common controller may be used.
  • the imaging device 59 is connected to the main controller 150.
  • the imaging device 59 transmits image data of the current terrain ahead of the motor grader 1 obtained by imaging to the main controller 150 in real time.
  • the main controller 150 analyzes the received image data and determines the status of the current topography.
  • the imaging device 59 images the current landform in front of the motor grader 1. Specifically, the imaging device 59 images the current terrain in a predetermined range in front of the motor grader 1. For example, the imaging device 59 captures an image of the current terrain in a range (for example, 1 m to 10 m) that is a predetermined distance away from the tip of the motor grader 1. The imaging device 59 sends image data obtained by imaging to the main controller 150.
  • the vehicle speed sensor 60 is connected to the main controller 150.
  • the vehicle speed sensor 60 measures the speed of the motor grader 1.
  • FIG. 4 is a diagram for explaining a method of controlling the height of the blade according to the situation of the current terrain based on the embodiment.
  • a line S in FIG. 4 indicates a target landform (also referred to as a design landform or a target surface).
  • the motor grader 1 acquires image data of the current topography in front of the motor grader 1 according to the imaging device 59 attached to the front.
  • FIG. 4 (B) the state when the front wheel 11 of the motor grader 1 passes through the convex portion that is the current terrain is shown.
  • the body frame 2 sinks due to the recess, so that the height of the blade 42 with respect to the current terrain and the target terrain changes.
  • the height of the blade 42 relative to the body frame 2 and the front wheel 11 is adjusted when the acquired current topography includes a convex portion.
  • the motor grader 1 can level the earth and sand of the convex portion more uniformly than in the case where the height of the blade 42 is not adjusted.
  • This method allows the motor grader 1 to perform leveling work according to the current terrain, thus improving the construction accuracy.
  • the motor grader 1 may determine the height of the convex portion and adjust the height of the blade 42 according to the determined height. Thereby, even when passing through the convex portion, it is possible to suppress a change in the height of the blade 42 with respect to the current terrain and the target terrain, and to perform highly accurate leveling work according to the current terrain.
  • the height of the blade 42 relative to the body frame 2 and the front wheel 11 is adjusted when the acquired current topography includes a recess.
  • the motor grader 1 can level the earth and sand in the recess more uniformly than when the height of the blade 42 is not adjusted.
  • This method allows the motor grader 1 to perform leveling work according to the current terrain, thus improving the construction accuracy.
  • the motor grader 1 may determine the depth of the recess and adjust the height of the blade 42 according to the determined depth. As a result, even when passing through the recess, it is possible to suppress a change in the height of the blade 42 with respect to the current terrain and the target terrain, and to perform highly accurate leveling work according to the current terrain.
  • FIG. 5 is a diagram illustrating a flow for adjusting the height of the blade in the motor grader 1 based on the embodiment.
  • the main controller 150 starts to acquire image data of the current landform imaged by the imaging device 59 (step S1).
  • the main controller 150 executes an analysis process every time image data from the imaging device 59 is acquired.
  • the main controller 150 determines whether or not the current topography in front of the motor grader 1 includes unevenness based on the analysis result of the acquired image data.
  • the current terrain has at least small irregularities because the leveling is incomplete.
  • the motor grader 1 does not have to adjust the blade height for such small irregularities.
  • the main controller 150 determines whether or not there are irregularities other than the small irregularities so as not to consider such small irregularities. Specifically, the main controller 150 determines whether or not there are a concave portion and a convex portion that are equal to or greater than a predetermined reference in the front, and determines that there is an uneven portion when these are present.
  • the main controller 150 sets the blade height according to the target terrain (design terrain) (step S2). Specifically, the main controller 150 sets the height of the blade so that the current terrain becomes the design terrain.
  • the main controller 150 sets the target terrain step by step so as to gradually approach the design terrain when a plurality of leveling steps are required in consideration of the load of the blade 42 on the current terrain. It is possible to set the height. In this example, the case where the blade height according to the design terrain is automatically calculated and set is described. However, the blade height is set according to the design terrain set by the operation instruction from the operator. May be. Specifically, the height of the blade may be set based on a command corresponding to the operation amount and the operation direction of the right operation lever 33.
  • the main controller 150 determines whether or not the front wheel 11 passes through the recess (step S3). Specifically, the main controller 150 determines whether or not the front wheel 11 passes through the recess based on the acquired image data.
  • step S3 when it is determined that the front wheel 11 passes through the recess (YES in step S3), the main controller 150 acquires the vehicle speed and the distance between the motor grader 1 and the recess (step S4).
  • the main controller 150 calculates the distance between the motor grader 1 and the recess.
  • the distance between the motor grader 1 and the recess can be, for example, the distance from the imaging device 59 to the recess.
  • the distance between the motor grader 1 and the concave portion may be the distance from the imaging device 59 to the concave portion plus the distance between the imaging device 59 and the blade 42.
  • the vehicle speed the speed measured by the vehicle speed sensor 60 can be used.
  • the main controller 150 calculates the time for the motor grader 1 (for example, the blade 42) to reach the recess based on the calculated distance and the speed of the motor grader 1 (step S5).
  • the main controller 150 adjusts the height of the blade upward (step S6). Specifically, the main controller 150 increases (adjusts upward) the blade height with respect to the vehicle body frame 2 (or the front wheel 11) from the set current height. The main controller 150 instructs the control valve 134 to reduce both the lift cylinders 44 and 45.
  • the main controller 150 controls the expansion / contraction speed of the cylinder so that the adjustment of the height of the blade 42 is completed at the calculated time. According to such a configuration, the height of the blade can be set appropriately when the motor grader 1 reaches the recess. Moreover, it is possible to suppress the change in the height of the blade and improve the construction accuracy of the leveling work.
  • the main controller 150 determines whether or not the passage of the concave portion of the front wheel 11 is completed (step S7). Specifically, the main controller 150 determines whether or not the front wheel 11 has passed through the recess based on the acquired image data. The main controller 150 calculates the distance to pass through the recess, and calculates the time to pass through the recess based on the calculated distance and the speed of the motor grader 1. Then, the main controller 150 determines whether or not a time from when the front wheel 11 starts to pass through the recess until the passage of the recess is completed has passed. Then, the main controller 150 can determine that the passage of the recess has been completed when it is determined that the time from when the front wheel 11 has started to pass through the recess has elapsed until the passage of the recess has been completed.
  • step S7 the main controller 150 maintains the state of step S7 until the passage of the recess of the front wheel 11 is completed (NO in step S7), and determines that the passage of the recess of the front wheel 11 is completed ( If YES in step S7), the process returns to step S2. Specifically, as described above, the main controller 150 sets the blade height according to the design terrain.
  • step S3 determines whether or not the front wheel 11 does not pass through the concave portion (NO in step S3).
  • the main controller 150 determines whether or not the front wheel 11 passes through the convex portion (step S8). . Specifically, the main controller 150 determines whether or not the front wheel 11 passes through the convex portion based on the acquired image data.
  • step S8 when the main controller 150 determines that the front wheel 11 passes the convex portion (YES in step S8), the main controller 150 acquires the vehicle speed and the distance between the motor grader 1 and the convex portion (step S9).
  • the main controller 150 calculates the distance between the motor grader 1 and the convex portion.
  • the distance between the motor grader 1 and the convex portion can be, for example, the distance from the imaging device 59 to the convex portion.
  • the distance between the motor grader 1 and the convex portion may be the distance from the imaging device 59 to the convex portion plus the distance between the imaging device 59 and the blade 42.
  • the vehicle speed the speed measured by the vehicle speed sensor 60 can be used.
  • the main controller 150 calculates the time for the motor grader 1 (for example, the blade 42) to reach the convex portion based on the calculated distance and the speed of the motor grader 1 (step S10).
  • the main controller 150 adjusts the blade height downward (step S11). Specifically, the main controller 150 lowers (adjusts downward) the blade height relative to the vehicle body frame 2 to the current height that has been set. The main controller 150 instructs the control valve 134 to extend both the lift cylinders 44 and 45.
  • the main controller 150 controls the expansion / contraction speed of the cylinder so that the adjustment of the height of the blade 42 is completed at the calculated time. According to such a configuration, the height of the blade can be appropriately set when the motor grader 1 reaches the convex portion.
  • the main controller 150 determines whether or not the passage of the convex portion of the front wheel 11 has been completed (step S12). Specifically, the main controller 150 determines whether or not the front wheel 11 has passed the convex portion based on the acquired image data. The main controller 150 calculates a distance until the convex portion passes, and calculates a time until the convex portion passes based on the calculated distance and the speed of the motor grader 1. Then, the main controller 150 determines whether or not a time from when the front wheel 11 starts to pass through the convex portion until the passage of the convex portion is completed has passed. Then, the main controller 150 can determine that the passage of the convex portion has been completed when it is determined that the time from when the front wheel 11 has started to pass through the convex portion until the passage of the convex portion has elapsed. It is.
  • step S12 the main controller 150 maintains the state of step S12 until the passage of the convex portion of the front wheel 11 is completed (NO in step S12), and determines that the passage of the convex portion of the front wheel 11 is completed. If yes (YES in step S12), the process returns to step S2. Specifically, as described above, the main controller 150 sets the blade height according to the design terrain.
  • This process adjusts the height of the blade according to the unevenness of the current terrain, so that the position of the blade 42 can be prevented from deviating from the design terrain due to the unevenness of the current terrain.
  • the later terrain can be brought closer to the designed terrain.
  • the height of the blade varies with respect to the target landform when the front wheel 11 passes through the unevenness of the current landform.
  • preparations for adjusting the blade height can be made. Therefore, since the response delay of blade control can be suppressed, construction accuracy can be improved. Thereby, since the frequency
  • the motor grader 1 acquired the current landform using the imaging device 59.
  • the present invention is not limited to this.
  • a laser device may be used instead of the imaging device 59.
  • the current landform may be acquired by scanning the current landform with the laser beam emitted by the laser device.
  • the configuration in which the motor grader 1 itself directly acquires the current terrain has been described as an example.
  • the present invention is not limited to this.
  • the motor grader 1 may obtain information on the current landform from a server device that can communicate.
  • the case where the current terrain is acquired using the imaging device 59 as the acquisition of the current terrain has been described.
  • the current terrain does not necessarily have to be attached to the motor grader 1, and the image of the imaging device 59 provided in another device. Data may be used, or image data acquired in advance may be used. In this respect, the method of acquiring image data is not limited at all.
  • the current landform in front of the motor grader 1 may be obtained based on the current landform information acquired in advance and the position information of the motor grader 1 obtained by providing the motor grader 1 with the GNSS antenna.
  • the method of acquiring image data is not limited at all.
  • the target terrain design terrain
  • a previously acquired design terrain may be used as the target terrain.
  • the height of the blade 42 relative to the front wheel 11 may be adjusted so that the height of the blade 42 relative to the front wheel 11 is maintained above the target terrain.
  • a motor grader control method comprising a blade provided between a front wheel and a rear wheel attached to a vehicle body according to a certain aspect, and a height adjusting mechanism for adjusting the height of the blade, the front of the motor grader Obtaining the current terrain and adjusting the height of the blade relative to the front wheel based on the current terrain.
  • the method further includes the step of acquiring the vehicle speed of the motor grader.
  • the step of adjusting the height of the blade relative to the front wheel the height of the blade relative to the front wheel is adjusted based on the current terrain and the vehicle speed.
  • the height of the blade relative to the vehicle body is adjusted based on the current terrain and the vehicle speed, it is possible to suppress changes in the height of the blade and improve the construction accuracy of leveling work.
  • the method further includes a step of determining whether or not the front wheel passes through the recess.
  • the step of adjusting the height of the blade relative to the front wheel if it is determined that the front wheel passes through the recess, the height of the blade relative to the front wheel is set higher than the current height.
  • the method further includes a step of setting a target landform.
  • the step of adjusting the height of the blade relative to the front wheel the height of the blade relative to the front wheel is maintained above the target terrain.
  • the method further includes a step of determining whether or not the front wheel has passed through the recess.
  • the step of adjusting the height of the blade with respect to the front wheel if it is determined that the front wheel has passed through the recess, the height of the blade with respect to the front wheel is readjusted.
  • the method further includes a step of determining whether or not the front wheel passes through the convex portion.
  • the step of adjusting the height of the blade relative to the front wheel if it is determined that the front wheel passes through the convex portion, the height of the blade relative to the front wheel is made lower than the current height.
  • the method further includes a step of determining whether or not the front wheel has passed the convex portion.
  • the step of adjusting the height of the blade with respect to the front wheel when it is determined that the front wheel has passed the convex portion, the height of the blade with respect to the front wheel is readjusted.
  • the current terrain is acquired by performing at least one of imaging the current terrain with an imaging device and scanning the current terrain with a laser.
  • a motor grader includes a vehicle body, front and rear wheels attached to the vehicle body, a blade provided between the front wheel and the rear wheel, a height adjustment mechanism that adjusts the height of the blade with respect to the front wheel, An acquisition unit that acquires the current terrain ahead of the motor grader, and a control unit that instructs the height adjustment mechanism to adjust the height of the blade relative to the front wheel based on the current terrain.
  • control unit acquires the vehicle speed of the motor grader, and instructs the height adjustment mechanism to adjust the height of the blade relative to the front wheel based on the current terrain and the vehicle speed.
  • the height of the blade relative to the vehicle body is adjusted based on the current terrain and the vehicle speed, it is possible to suppress changes in the height of the blade and improve the construction accuracy of leveling work.
  • control unit determines whether or not the front wheel passes through the recess, and when determining that the front wheel passes through the recess, instructs the height adjustment mechanism to set the height of the blade relative to the front wheel to be higher than the current height. Make it high.
  • control unit determines whether or not the front wheel has passed through the recess, and if it is determined that the front wheel has passed through the recess, instructs the height adjustment mechanism to readjust the height of the blade relative to the front wheel.
  • control unit determines whether or not the front wheel passes the convex portion, and when determining that the front wheel passes the convex portion, instructs the height adjustment mechanism to set the height of the blade relative to the front wheel to the current height. Lower than that.
  • control unit determines whether or not the front wheel has passed the convex portion, and if it is determined that the front wheel has passed the convex portion, instructs the height adjustment mechanism to readjust the blade height relative to the front wheel. To do.
  • the acquisition unit acquires the current landform using at least one of an imaging device attached to the motor grader and a laser attached to the motor grader.
  • the motor grader 1 has the cab 3, but the motor grader 1 does not necessarily have the cab 3.
  • the motor grader 1 is not limited to a specification in which an operator gets on the motor grader 1 and operates the motor grader 1, but may be a specification that operates by remote operation from the outside. In this case, the motor grader 1 does not need the cab 3 for the operator to board, and therefore does not need to have the cab 3.

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PCT/JP2017/010581 2016-03-23 2017-03-16 モータグレーダの制御方法およびモータグレーダ WO2017164053A1 (ja)

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US16/082,593 US10753066B2 (en) 2016-03-23 2017-03-16 Method of controlling motor grader and motor grader
CN201780013292.4A CN108699805B (zh) 2016-03-23 2017-03-16 机动平路机的控制方法以及机动平路机

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US11193255B2 (en) 2019-07-31 2021-12-07 Deere & Company System and method for maximizing productivity of a work vehicle
US11891782B2 (en) 2020-04-30 2024-02-06 Deere & Company Ground engaging tool control system and method

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JP6689638B2 (ja) 2020-04-28
CN108699805A (zh) 2018-10-23
US20190093313A1 (en) 2019-03-28
CN108699805B (zh) 2020-12-15
JP2017172186A (ja) 2017-09-28
US10753066B2 (en) 2020-08-25

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